Micro-tweezers: Design, fabrication, simulation and testing of a pneumatically actuated micro-gripper for micromanipulation and microtactile sensing
Micro-tweezers: Design, fabrication, simulation and testing of a pneumatically actuated micro-gripper for micromanipulation and microtactile sensing
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DOI：
10.1016/j.sna.2015.06.032
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发表时间：
2015-12-01
影响因子：
4.6
通讯作者：
Reuben, R. L.
中科院分区：
文献类型：
--
作者：
Alogla, A. F.;Amalou, F.;Reuben, R. L.
提出了一种具有操作和力传感双重功能的新型微夹持器设计。该装置由两个平行板组成，每个板安装在扭杆上，可以通过使用气动或液压驱动的弹性膜使它们朝向或远离彼此旋转。该板可以方便地使用光刻制造，并且该设计允许致动压力与尖端开口位移和力之间的比率范围。弹性夹持尖端可被设计成提供足够的顺应性，使得它们的应变可用于监测和控制夹持力。已经制造了一个示例性装置，其行为特征在于通过一系列力和位移的机械测量。这些测量已经合理化，使用一个简单的分析模型，支持有限元分析，强调设计变量和可扩展性。该示例性装置具有1 mm的最大尖端打开幅度和50 mN的最大力输出，也已被证明可以用200 μ m微珠执行拾取和放置操作。(C)2015年，作者。由爱思唯尔公司出版
This paper presents a novel micro-gripper design with the dual functions of manipulation and force sensing. The device consists of two parallel plates, each mounted on torsion bars, which can be made to rotate towards or away from each other by use of a pneumatically- or hydraulically-actuated elastic membrane. The plates can be conveniently fabricated using photo-etching and the design allows for a range of ratios between actuation pressure and tip opening displacement and force. The elastic gripping tips can be designed to provide sufficient compliance that their strain can be used to monitor and control the gripping force. An exemplar device has been fabricated and its behaviour characterised by a series of mechanical measurements of force and displacement. These measurements have been rationalised using a simple analytical model, backed up with finite element analysis to emphasise the design variables and scalability. This exemplar device, with a maximum tip opening amplitude of I mm and maximum force output of 50 mN, has also been demonstrated to perform pick-and-place operations with 200 mu m micro-beads. (C) 2015 The Authors. Published by Elsevier B.V.